\page nodes Nodes

Package Overview

The nodes package provides classes for adding nodes to a graph for optimization. Nodes are equivalent to state parameters that should always be added/removed/updated at the same time. For example, when performing visual-intertial odometry, a single node may contain pose, velocity and IMU bias values. For a simple localization graph, a single node may contain just a pose. For timestamped nodes containing a single type (such as just a pose), use the TimestampedNodes class. For timestamped nodes containing multiple types (such as the pose, velocity bias node), use the TimestampedCombinedNodes class and override the AddNode and GetNode methods.

Values

Wrapper around GTSAM values class that enables adding and removing values given their key.

TimestampedNodes

Class that enables adding and removing simple nodes containing a single type given their timestamp.

TimestampedCombinedNodes

Class that enables adding and removing combined nodes containing multiple types given their timestamp. The AddNode and GetNode functions must be overridden, where the AddNode method should yield a new key vector containing a key for each type in the node, and the GetNode method should generate a combined type given a key vector. Note the ordering of the keys in the key vector generated by AddNode and provided by GetNode must match. See CombinedNavStateNodes for an example.

CombinedNavStateNodes

TimestampedCombinedNodes for a combined nav state that contains a pose, velocity, and IMU bias.